Adaptive Estimation and Detection of Filament Width Deviation during 3D Robotic Printing of Construction Materials

摘要

3D Concrete Printing (3DCP) is an emerging topic in both industry and research, it helps to save construction time while increasing the complexity of building objects, this advantage allows to print urban furniture of simple shapes from recyclable materials, as well as complex shapes with variable and greater curvature. The 3DCP process is performed by a complex system composed of different parts including robot, pump and materials. The quality of printing can be affected by changes of material behavior and imperfect combination of printing system parameters. Conventional printing tasks require human operator to make decision for the intervention on the printing system when the printing quality deteriorates, which does not meet the requirement for a closed-loop control of the printing quality. In this work, we propose an integrated approach based on Fault Detection and Isolation method for real-time monitoring of printing quality and automatic detection and isolation of a geometric fault that occurs to the printed object during a robotized 3D concrete printing process.